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US 12,629,827 B2Granted
Rapid change mechanism for complex end effectors
AssigneeThe Boeing Company
InventorsChristopher J. Wheaton, Clayton Munk, Brian R. Conlan, Gavin Lloyd Smith, Dan D. Day, Johannes Meyling
Life of this patent
Estimating the term…
Abstract
Technology identifies that an end effector is provisioned to a robot. The technology accesses identification data of the end effector. The identification data is specific to the end effector. The identification data includes one or more of at least one setting associated with the end effector or at least one parameter associated with the end effector. The technology controls the end effector based on the identification data to adjust one or more runtime parameters of the robot based on the identification data.
Claims20
A modular processing system comprising:
- an end effector that includes a storage device, wherein the storage device includes identification data that is specific to the end effector, and wherein the identification data includes:
- a plurality of joint-specific calibration offsets associated with the end effector, the offsets being determined during an offline calibration process prior to the end effector being received by a robot, wherein the offline calibration process includes measuring physical characteristics of the end effector to determine actual movement distances of the end effector in response to movement commands, and wherein the joint- specific calibration offsets include the actual movement distances that are precomputed prior to the end effector being received by the robot;
- and
- historical usage data associated with the end effector, the historical usage data representing operational history and changes in operational condition of the end effector, wherein the changes in operational condition include one or more hardware changes in the end effector that affect performance of the end effector;
- the robot that receives the end effector;
- at least one processor;
- and
- at least one memory coupled to the at least one processor, the at least one memory including a set of instructions, which when executed by the at least one processor, causes the system to:
- identify the identification data of the end effector upon the end effector being received by the robot;
- and
- self-adjust one or more runtime parameters of the system based on the identification data, thereby bypassing a calibration process and configuring the system for immediate operation, wherein the system is configured for operation without performing the calibration process after the end effector is received by the robot.
8 more elements
An end effector comprising:
- at least one processor;
- and
- at least one memory coupled to the at least one processor, the at least one memory including a set of instructions, which when executed by the at least one processor, causes the end effector to:
- identify when the end effector is provisioned to a robot;
- and
- present identification data to the robot, wherein the identification data is specific to the end effector, wherein the identification data includes:
- a plurality of joint-specific calibration offsets associated with the end effector, the offsets being determined during an offline calibration process prior to the end effector being received by a robot, wherein the offline calibration process includes measuring physical characteristics of the end effector to determine actual movement distances of the end effector in response to movement commands, and wherein the joint- specific calibration offsets include the actual movement distances that are precomputed prior to the end effector being received by the robot;
- and
- historical usage data associated with the end effector, the historical usage data representing operational history and changes in operational condition of the end effector, wherein the changes in operational condition include one or more hardware changes in the end effector that affect performance of the end effector;
- and
- self-adjust one or more runtime parameters of the robot based on the identification data, thereby bypassing a calibration process and configuring the robot for immediate operation, wherein the robot is configured for operation without performing the calibration process after the end effector is received by the robot.
8 more elements
A robot comprising:
- an effector arm to releasably receive an end effector, wherein the end effector stores identification data including:
- a plurality of joint-specific calibration offsets associated with the end effector, the offsets being determined during an offline calibration process prior to the end effector being received by the robot, wherein the offline calibration process includes measuring physical characteristics of the end effector to determine actual movement distances of the end effector in response to movement commands, and wherein the joint-specific calibration offsets include the actual movement distances that are precomputed prior to the end effector being received by the robot;
- and
- historical usage data associated with the end effector, the historical usage data representing operational history and changes in operational condition of the end effector, wherein the changes in operational condition include one or more hardware changes in the end effector that affect performance of the end effector;
- at least one processor;
- and
- at least one memory coupled to the at least one processor, the at least one memory including a set of instructions, which when executed by the at least one processor, causes the robot to:
- identify the identification data of the end effector upon the end effector being received by the robot;
- and
- self-adjust one or more runtime parameters of the robot based on the identification data, thereby bypassing a calibration process and configuring the robot for immediate operation, wherein the robot is configured for operation without performing the calibration process after the end effector is received by the robot.
7 more elements
Dependencies are inferred from the claim text.